Duplicates in the list of collisions about tesseract

[Levi-Armstrong]

This should be fixed in the latest version but I need to update the contact monitor. I will take a look and update the monitor. I let you know when it has been updated.

[AndyZe]

Cool. Well I was working on a patch right now, but feel free to close my PR if yours works.

[Levi-Armstrong]

I have upgraded the contact monitor in PR #26 and it appears the latest changes have fixed it, but I have done limited testing so you may want to confirm.

[AndyZe]

Unfortunately I ran into this error while launching the contact monitor. I'm using a Gazebo SIA5 simulation which seems to be fine. I can plan/execute with MoveIt! and echo /joint_states.

tesseract_monitoring_contacts_node: /home/me/Desktop/catkin_ws/src/tesseract/tesseract_ros/src/kdl/kdl_joint_kin.cpp:297: bool tesseract::tesseract_ros::KDLJointKin::init(urdf::ModelInterfaceConstSharedPtr, const std::vector<std::__cxx11::basic_string >&, std::__cxx11::string): Assertion `jnt.getType() != KDL::Joint::None' failed.

To reproduce, you could clone this repo (https://github.com/UTNuclearRoboticsPublic/motoman_project) then follow the steps in the Readme to launch the sim.

[Levi-Armstrong]

This assert is triggered because the the kdl joint tree was passed a set of joints that are adjustable but one of the joints passed is not an adjustable joint it is of type none.

[AndyZe]

That seems like a common problem because both robots I tried had the same error. Any hints on how to fix it?

[Levi-Armstrong]

I believe the issues is that all of the groups appear to be defined by individual joints instead of chains (when able to). Like in the case below it is likely that world is a fixed joint and should not be in the list.

<group name="arm">
        <joint name="world" />
        <joint name="joint_s" />
        <joint name="joint_l" />
        <joint name="joint_e" />
        <joint name="joint_u" />
        <joint name="joint_r" />
        <joint name="joint_b" />
        <joint name="joint_t" />
</group>